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Antoine Pirrone

@antoinepirrone • 5,005 subscribers

PhD in computer science. R&D Engineer at @pollenrobotics x @huggingface (Microduck, Reachy Mini) Member of @RhobanRobots team. Creator of Open Duck Mini

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Here's 3 minutes of uncut Microduck testing on carpet

Here's 3 minutes of uncut Microduck testing on carpet

Antoine Pirrone

243,903 Aufrufe • vor 28 Tagen

I have been playing with footstep planning on Microduck for more accurate relative positioning, looks promising !

I have been playing with footstep planning on Microduck for more accurate relative positioning, looks promising !

Antoine Pirrone

27,355 Aufrufe • vor 12 Tagen

Sneak peak at Microduck's monitoring tool, running fully on device ! You can see a visualization of the little ToF sensor in its head

Sneak peak at Microduck's monitoring tool, running fully on device ! You can see a visualization of the little ToF sensor in its head

Antoine Pirrone

82,012 Aufrufe • vor 2 Monaten

Testing Microduck's SLAM! It runs fully onboard, with just its leg odometry and the 8×8 ToF sensor in its head, 64 pixels of depth. Carry it across the room and it finds itself again after a few steps. The ArUco tags are only there for ground truth: a fixed camera tracks the one on its head, and the duck never uses them. Against that ground truth, its position at each stop is off by 4.8 cm on median, and 94% of the time it claims to know where it is, it's within 15 cm. In this session it relocalized after a 1.5 m carry (2 cm off), a seated 1.5 m carry (11 cm) and a fall (3 cm), and across our benchmark sessions it never relocalized to the wrong place.

Testing Microduck's SLAM! It runs fully onboard, with just its leg odometry and the 8×8 ToF sensor in its head, 64 pixels of depth. Carry it across the room and it finds itself again after a few steps. The ArUco tags are only there for ground truth: a fixed camera tracks the one on its head, and the duck never uses them. Against that ground truth, its position at each stop is off by 4.8 cm on median, and 94% of the time it claims to know where it is, it's within 15 cm. In this session it relocalized after a 1.5 m carry (2 cm off), a seated 1.5 m carry (11 cm) and a fall (3 cm), and across our benchmark sessions it never relocalized to the wrong place.

Antoine Pirrone

14,088 Aufrufe • vor 26 Tagen

Open Duck Mini is standing up using a policy learned with RL in simulation! We are still pushing locomotion, so if you have some knowledge of Isaac Gym and want to help feel free to join us! Thomas Wolf

Open Duck Mini is standing up using a policy learned with RL in simulation! We are still pushing locomotion, so if you have some knowledge of Isaac Gym and want to help feel free to join us! Thomas Wolf

Antoine Pirrone

66,442 Aufrufe • vor 2 Jahren

Open Duck Mini V2 Update ! Take a look at the project here :

Open Duck Mini V2 Update ! Take a look at the project here :

Antoine Pirrone

45,476 Aufrufe • vor 1 Jahr

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